# US 12,114,056 B2 · Cross field of view for autonomous vehicle systems > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,114,056 B2 - Document ID: US12114056B2 - Status: Granted - Kind: B2 - Application number: 17/811,735 - Filed: 2022-07-11 - Published: 2022-11-10 - Granted: 2024-10-08 - Earliest claimed: 2017-05-10 - Assignees: Mobileye Vision Technologies Ltd. - Applicants: Mobileye Vision Technologies Ltd. - Inventors: Gideon Stein; Ori Eytan; Efim Belman; Moshe Katiee - Web page: https://patentgrep.com/patent/US12114056B2 ## CPC - G01C 11/02: Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures - H04N 23/54: Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils - G01C 11/06: by comparison of two or more pictures of the same area - H04N 7/181: {for receiving images from a plurality of remote sources} - H04N 23/51: Housings - H04N 23/57: Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices - H04N 23/90: Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums - B60R 2300/10: characterised by the type of camera system used - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR ## Abstract An imaging system is provided for a vehicle. In one implementation, the imaging system includes an imaging module, a first camera coupled to the imaging module, a second camera coupled to the imaging module, and a mounting assembly configured to attach the imaging module to the vehicle such that the first and second camera face outward with respect to the vehicle. The first camera has a first field of view and a first optical axis, and the second camera has a second field of view and a second optical axis. The first optical axis crosses the second optical axis in at least one crossing point of a crossing plane. The first camera is focused a first horizontal distance beyond the crossing point of the crossing plane and the second camera is focused a second horizontal distance beyond the crossing point of the crossing plane. ## Claims ### Claim 1 An apparatus comprising: at least one processor; a first camera coupled to the at least one processor, the first camera having a first lens with a first field of view and a first angle; a second camera coupled to the at least one processor, the second camera having a second lens with a second field of view and a second angle, the second field of view being different from the first field of view, the first angle being wider than the second angle; and a mounting assembly configured to attach the apparatus to an interior window of a vehicle, wherein: when the apparatus is mounted with the mounting assembly, the first field of view and the second field of view at least partially overlap, and the first field of view is substantially perpendicular to a central longitudinal axis of the vehicle, the first camera has a first optical axis, the second camera has a second optical axis, and the first optical axis crosses the second optical axis in at least one crossing point of a crossing plane. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein the mounting assembly is configured to attach the apparatus to an interior rear window. ### Claim 3 (depends on 1) The apparatus of claim 1, wherein the first camera is focused at a first horizontal distance beyond the at least one crossing point of the crossing plane and the second camera is focused at a second horizontal distance beyond the at least one crossing point of the crossing plane. ### Claim 4 (depends on 3) The apparatus of claim 3, wherein the first camera is closer to the at least one crossing point than the second camera. ### Claim 5 (depends on 1) The apparatus of claim 1, wherein the mounting assembly is configured to position the first camera and the second camera at the same height. ### Claim 6 (depends on 1) The apparatus of claim 1, wherein the second field of view is offset from the central longitudinal axis by a range between 5 to 30 degrees measured from the rear of the vehicle. ### Claim 7 (depends on 6) The apparatus of claim 6, wherein the first field of view and the second field of view have a combined field of view ranging from 90 to 175 degrees. ### Claim 8 (depends on 7) The apparatus of claim 7, wherein: the first angle is substantially 100 degrees; the second angle is substantially 50 degrees; the combined field of view is substantially 130 degrees; the first field of view and the second field of view overlap by at least 20 degrees; and the offset from the central longitudinal axis is substantially 5 degrees. ### Claim 9 (depends on 1) The apparatus of claim 1, wherein the first field of view is offset from the central longitudinal axis by substantially 60 degrees measured from the front of the vehicle. ### Claim 10 (depends on 1) The apparatus of claim 1, further comprising a third camera coupled to the at least one processor, wherein: the third camera has a third lens with a third field of view and the second angle; the third field of view at least partially overlap with the second field of view; and the first field of view, the second field of view, and the third field of view form a combined field of view of at least 160 degrees. ### Claim 11 An imaging system for a vehicle, the system comprising: a processing unit; a first camera coupled to the processing unit, the first camera having a first lens with a first field of view and a first angle; a second camera coupled to the processing unit, the second camera having a second lens with a second field of view and a second angle, the second field of view being different from the first field of view, the first angle being wider than the second angle; a third camera coupled to the processing unit, the third camera having a third lends with a third field of view, the third field of view being different from the first field of view and the second field of view; and a mounting assembly configured to attach the first camera, the second camera, and the third camera to an interior window of a vehicle, wherein: the first field of view and the second field of view at least partially overlap, the first field of view and the third field of view at least partially overlap, and the first field of view is substantially perpendicular to a central longitudinal axis of the vehicle, the first camera has a first optical axis, the second camera has a second optical axis, and the first optical axis crosses the second optical axis in at least a first crossing point of a crossing plane. ### Claim 12 (depends on 11) The system of claim 11, wherein the mounting assembly is configured to attach the first camera, the second camera, and the third camera to an interior rear window of a vehicle. ### Claim 13 (depends on 11) The system of claim 11, wherein: the third camera has a third optical axis; and the first optical axis crosses the third optical axis in at least a second crossing point of a crossing plane. ### Claim 14 (depends on 13) The system of claim 13, wherein: the first camera is focused at a first horizontal distance beyond the first crossing point and the second camera is focused at a second horizontal distance beyond the second crossing point; and the first crossing point is different from the second crossing point. ### Claim 15 (depends on 13) The system of claim 13, wherein the first camera is closer to the first crossing point than the second camera; and the first camera is closer to the second crossing point than the third camera. ### Claim 16 (depends on 11) The system of claim 11, wherein the mounting assembly is configured to position: the first camera at a different height from the second camera; the first camera at a different height from the third camera; and the second camera at a different height from the third camera. ### Claim 17 (depends on 11) The system of claim 11, wherein the second field of view is offset from the central longitudinal axis by a range between 5 to 30 degrees measured from the rear of the vehicle. ### Claim 18 (depends on 17) The system of claim 17, wherein: the first field of view is offset from the central longitudinal axis by substantially 60 degrees measured from the front of the vehicle; and the third field of view is offset from the central longitudinal axis by a range between 5 to 30 degrees measured from the front of the vehicle. ### Claim 19 An imaging system for a vehicle comprising: at least one processor; a first camera coupled to the at least one processor, the first camera having a first lens with a first field of view and a first angle; a second camera coupled to the at least one processor, the second camera having a second lens with a second field of view and a second angle, the second field of view being different from the first field of view, the first angle being wider than the second angle; and a mounting assembly configured to attach the at least a portion of the imaging system to an interior window of a vehicle, wherein: the first field of view is substantially perpendicular to a central longitudinal axis of the vehicle; the at least one processor is configured to: receive a first plurality of images from the first camera and a second plurality of images from the second camera; perform stereo image analysis of the first plurality of images and the second plurality of images to create a 3D map; and cause one or more navigational responses in the vehicle based on the stereo image analysis, the navigation responses comprising at least one of a turn, a change in acceleration, a change in velocity, or braking; the first camera has a first optical axis; the second camera has a second optical axis; and the first optical axis crosses the second optical axis in at least one crossing point of a crossing plane. ### Claim 20 An apparatus comprising: at least one data interface; a first camera coupled to the at least one data interface, the first camera having a first lens with a first field of view and a first angle; a second camera coupled to the at least one data interface, the second camera having a second lens with a second field of view and a second angle, the second field of view being different from the first field of view, the first angle being wider than the second angle; and a mounting assembly configured to attach the apparatus to an interior window of a vehicle, wherein: when the apparatus is mounted with the mounting assembly, the first field of view and the second field of view at least partially overlap, and the first field of view is substantially perpendicular to a central longitudinal axis of the vehicle, the first camera has a first optical axis; the second camera has a second optical axis; and the first optical axis crosses the second optical axis in at least one crossing point of a crossing plane. ### Claim 21 (depends on 20) The apparatus of claim 20, wherein the first camera is focused at a first horizontal distance beyond the at least one crossing point of the crossing plane and the second camera is focused at a second horizontal distance beyond the at least one crossing point of the crossing plane. ### Claim 22 (depends on 20) The apparatus of claim 20, wherein the second field of view is offset from the central longitudinal axis by a range between 5 to 30 degrees measured from the rear of the vehicle. ### Claim 23 (depends on 20) The apparatus of claim 20, wherein the first field of view is offset from the central longitudinal axis by substantially 60 degrees measured from the front of the vehicle. ### Claim 24 (depends on 20) The apparatus of claim 20, further comprising a third camera coupled to the at least one data interface, wherein: the third camera has a third lens with a third field of view and the second angle; the third field of view at least partially overlap with the second field of view; and the first field of view, the second field of view, and the third field of view form a combined field of view of at least 160 degrees.